In this paper we propose a trajectory planning
approach for autonomous vehicles in highly dynamic traffic
scenarios, capable of exploiting the observed trajectories of
other vehicles. For this purpose, we introduce a novel variant
of the timed elastic bands (TEB) approach by using fixed time
intervals and a flexible goal position. We tested our method
with a simulated merge-into-traffic scenario and compare it to
a reference TEB implementation with focus on the impact of
important parameters and the stability of planned trajectories.
The results show that our method is an improvement over TEB
in terms trajectory smoothness and stability.